Feasible path planning method, system, device and medium for polluted gas diffusion

Abstract

The present invention relates to a feasible path planning method, system, device and medium based on the diffusion of instantaneous point source polluted gas in three-dimensional space, and the method includes: obtaining surrounding environment information through sensing equipment, and obtaining meteorological information, geographic information and real road network information from a public information platform; based on the instantaneous point source gas pollution diffusion model, obtaining a two-dimensional polluted gas diffusion area according to the surrounding environment information and meteorological information; based on the two-dimensional polluted gas diffusion area, obtaining a three-dimensional polluted gas diffusion area according to the obtained leakage gas lifting height, leakage source height and combined with geographic information; planning a feasible path according to the two-dimensional polluted gas diffusion area and real road network information. This method combines the instantaneous point source polluted gas diffusion model with the leakage gas lifting height, so that the diffusion display is three-dimensional, which improves the accuracy and practicality of the model, and the diffusion model changes in real time with time and meteorological parameters, which improves the performance indicators of the model.

Description

Technical Field

[0001] The present invention relates to the field of hazard source diffusion simulation and early warning technology, and in particular to a feasible path planning method, system, device and medium based on the diffusion of instantaneous point source polluted gas in three-dimensional space. Background Art

[0002] Nowadays, almost all process industries use chemical raw materials for industrial production and manufacturing in their daily production operations, such as chlorine, formaldehyde, acetic acid, etc. These chemical raw materials need to be stored in a stable and closed space. Currently, tank storage is one of the important ways to store chemical raw materials, so it is of great significance to study tank leakage or explosion. In addition, under the condition of limited time and information limitations, effectively and quickly predicting the concentration range and diffusion trend of toxic and harmful gases is an important part of emergency rescue after an accident.

[0003] At present, traditional pollutant diffusion prediction models include Gaussian diffusion model, numerical diffusion prediction model, computational fluid dynamics model, etc. The current prediction of pollutant gas diffusion mainly uses mathematical models, combined with certain assumptions, to select a series of pollutant gases and meteorological parameters, and calculate and simulate the diffusion and migration of atmospheric pollutants under actual conditions. This model can be used to predict the temporal and spatial distribution of a certain pollutant in a hazardous chemical enterprise or park under given pollutant emission intensity (emissions per unit time) and meteorological conditions. However, the real-time and accuracy of existing technical models still need to be improved, and there is no description of three-dimensional space, so the practicality is not high. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a feasible path planning method, system, device and medium based on the diffusion of instantaneous point source polluted gas in three-dimensional space, which solves the technical problems that the prior art does not combine the three-dimensional space of the diffusion model with the multi-risk area level information, and does not utilize time domain information to improve the accuracy and reliability of the diffusion model.

[0006] (II) Technical solution

[0007] In order to achieve the above object, the main technical solutions adopted by the present invention include:

[0008] In a first aspect, an embodiment of the present invention provides a feasible path planning method for diffusion of instantaneous point source polluted gas in three-dimensional space, comprising:

[0009] S1. Obtain surrounding environment information through sensing devices deployed within the preset range of each leakage source, and obtain meteorological information, geographic information and real road network information from the public information platform;

[0010] S2. Based on the instantaneous point source gas pollution diffusion model, a two-dimensional polluted gas diffusion area is obtained according to the surrounding environment information and the meteorological information;

[0011] S3, based on the two-dimensional polluted gas diffusion area, according to the obtained leakage gas lifting height, leakage source height and the geographic information, obtain a three-dimensional polluted gas diffusion area;

[0012] S4. Planning a feasible path based on the two-dimensional polluted gas diffusion area and the real road network information.

[0013] Optionally, the surrounding environment information includes: height of the leakage source, internal pressure of the leakage source, leakage time, temperature at the leakage point, concentration of the leakage substance and type of the leakage gas.

[0014] Optionally, step S2 includes:

[0015] S21, obtaining the atmospheric stability of the leakage area according to the meteorological data, the concentration of the leakage substance, the height of the leakage source and the internal pressure of the leakage source;

[0016] S22, determining the diffusion coefficient according to the atmospheric stability of the leakage area;

[0017] S23. Based on the instantaneous point source gas pollution diffusion model, the longest distance of the diffusion area and the lateral distance of the leakage source are calculated to obtain a two-dimensional polluted gas diffusion area.

[0018] Optionally,

[0019] The instantaneous point source gas pollution diffusion model is:

[0020]

[0021] Where C is the mass concentration of pollutants at (x, y, z), x is the downwind distance from the calculation point to the leakage source, y is the lateral distance from the calculation point to the leakage source, z is the height from the calculation point to the ground, Q is the source strength of the leakage source, H is the height of the leaked gas, u is the average wind speed, t is the leakage time, and σ x ,σ y are the horizontal diffusion coefficients, σ z is the diffusion coefficient in the vertical direction;

[0022] Step S23 includes:

[0023] Along the downwind distance x direction of the leakage source, until the preset warning concentration boundary x1, the longest distance of the diffusion area is (x1-x);

[0024] According to the longest distance of the diffusion area, the step length is: xj =x1+n * (x1-x) / 30, n is a positive integer and x j <(x1-x);

[0025] Substitute the step length into the instantaneous point source gas pollution diffusion model and perform the following calculation to obtain the lateral distance of the leakage source:

[0026]

[0027] Optionally, step S3 includes:

[0028] S31, judging the current gas field conditions based on the acquired meteorological data, leakage time, leakage temperature and leakage gas type;

[0029] S32, obtaining the lifting height of the leaked gas under different gas field conditions;

[0030] S33, obtaining diffusion data of the leaked gas in the vertical direction according to the lifting height of the leaked gas and the height of the leakage source;

[0031] S34. Based on the two-dimensional polluted gas diffusion area, a three-dimensional polluted gas diffusion area is obtained according to the diffusion data of the leaked gas in the vertical direction and combined with geographic information.

[0032] Optionally, calculating the leakage gas lift height under different gas field conditions includes:

[0033] S32A, when the average wind speed is greater than 0.5m / s, the atmospheric stability level is B / C / D, and the heat release rate of the leaked gas is greater than 2100KJ / S, and the temperature difference between the leaked gas and the outside is 35K, the leaked gas lift height is:

[0034]

[0035] Q h =3.5P a Q v ΔT / T s

[0036] ΔT=T s -T a

[0037] Where n0 is the condition coefficient of the leaked gas and the ground surface; n1 is the delayed heat release index; n2 is the leaked gas height index; Q h is the heat release rate of the leaking gas; P a is the atmospheric pressure at the leaking gas outlet; Q v is the emission efficiency of effective point sources; T s The actual temperature of the leak; Ta Ambient temperature;

[0038] S32B, when the heat release rate of the leaked gas is greater than 1700KJ / S and less than 2100KJ / S, and the temperature difference between the leaked gas and the outside is 35K, the following leaked gas lifting height is obtained:

[0039] ΔH=ΔH1+(M-ΔH1)(Q h -1700) / 400

[0040]

[0041]

[0042] Where V s is the leakage gas emission rate, D is the geometric diameter of the leakage port; n0 is the condition coefficient of the leakage gas and the ground surface; n1 is the delayed heat release index; n2 is the leakage gas height index; u is the average wind speed, Q h is the heat release rate of the leaking gas; P a is the atmospheric pressure at the leaking gas outlet; Q v is the emission efficiency of effective point sources; T s The actual temperature of the leak; T a Ambient temperature;

[0043] S32C, when the heat release rate of the leaked gas is less than 2100KJ / S and the temperature difference between the leaked gas and the outside is less than 35K, the following leaked gas lifting height is obtained:

[0044]

[0045] S32D, when the average wind speed is greater than 0.5m / s and the diffuse gas field is at atmospheric stability level A, the following leakage gas lift height is obtained:

[0046]

[0047] In the formula, is the atmospheric temperature gradient above the geometric height of the leak source.

[0048] Optionally, step S4 includes:

[0049] S41, obtaining the area to be planned according to the three-dimensional polluted gas diffusion area and the real road network information, and determining the starting point A and the safe arrival point B;

[0050] S42, quantizing the path area to be planned into a group of nodes, and storing the starting point A as the current node in the open list;

[0051] S43, taking the starting point A as the center, matching the drivable roads based on the real road network data and skipping the roads corresponding to the polluted gas diffusion area as a principle, and adding the nodes corresponding to the polluted gas diffusion area to the open list;

[0052] S44, traverse the open list, set the path with the smallest F value as the current path, and switch the path with the smallest F value to the closed list;

[0053] S45, using the current path to find the next path, and making the following judgment on each node of the next path:

[0054] S46A, if the node is not in the open list, add the node, select the node with the smallest F value, and add it to the closed list;

[0055] S46B, if the node is already in the open list, take the node as the parent node, recalculate the G value of the node, compare it with the previous G value, and select the node with the smallest G value as the G value of the current node;

[0056] S47, repeat steps S44-S46B multiple times until a safe arrival point B is found, starting from the safe point B, move along the parent node of each path until returning to the evacuation point A;

[0057] Among them, the F value is obtained through the following cost function: F=G+H, G is the cost consumption of selecting a surrounding road, H is the Euclidean distance from a certain section of the surrounding road to the safe point B, and the road with the minimum F value is selected among the surrounding feasible roads.

[0058] In a second aspect, an embodiment of the present invention provides a feasible path planning system based on the diffusion of instantaneous point source polluted gas in three-dimensional space, comprising:

[0059] An information acquisition module is used to obtain surrounding environment information through sensing devices deployed within the preset range of each leakage source, and obtain meteorological information, geographic information and real road network information from the public information platform;

[0060] A two-dimensional area construction module, used to obtain a two-dimensional polluted gas diffusion area based on an instantaneous point source gas pollution diffusion model according to the surrounding environment information and the meteorological information;

[0061] A three-dimensional area construction module is used to obtain a three-dimensional polluted gas diffusion area based on the two-dimensional polluted gas diffusion area, according to the obtained leakage gas lifting height, leakage source height and the geographic information;

[0062] A path planning module is used to plan a feasible path based on the two-dimensional polluted gas diffusion area and the real road network information.

[0063] In a third aspect, an embodiment of the present invention provides a feasible path planning device based on the diffusion of instantaneous point source polluted gas in three-dimensional space, comprising:

[0064] at least one database;

[0065] and a memory in communication with the at least one database;

[0066] Wherein, the memory stores instructions that can be executed by the at least one database, and the instructions are executed by the at least one database so that the at least one database can execute the feasible path planning method based on the diffusion of instantaneous point source polluted gas in three-dimensional space as described above.

[0067] In a fourth aspect, an embodiment of the present invention provides a computer-readable medium having computer executable instructions stored thereon, which, when executed by a processor, implements a feasible path planning method for diffusion of instantaneous point source polluted gas in three-dimensional space as described above.

[0068] (III) Beneficial effects

[0069] The beneficial effects of the present invention are as follows: the method combines the instantaneous point source pollution gas diffusion model based on three-dimensional space with the smoke lift height, so that the diffusion display is three-dimensional, and the accuracy and practicality of the model are improved. At the same time, the time domain information and meteorological information are combined to realize the real-time change of the diffusion model with the change of time and meteorological parameters, thereby improving the performance indicators of the model. In addition, the diffusion area is graded to improve the versatility of the model. Finally, based on the real road network data, the path planning algorithm is combined to realize the real-time planning of safe escape routes, and timely provide decision makers with reference information for command and dispatch, thereby improving the reliability of emergency escape routes. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 A schematic flow chart of a feasible path planning method for diffusion of instantaneous point source polluted gas in three-dimensional space provided by the present invention;

[0071] Figure 2 A specific flow chart of step S2 of a feasible path planning method for diffusion of instantaneous point source polluted gas in three-dimensional space provided by the present invention;

[0072] Figure 3 A specific flow chart of step S23 of a feasible path planning method based on instantaneous point source pollution gas diffusion in three-dimensional space provided by the present invention;

[0073] Figure 4 The invention provides a feasible path planning method for instantaneous point source gas diffusion in three-dimensional space based on a simulation of instantaneous point source gas diffusion in three-dimensional space;

[0074] Figure 5 A specific flow chart of step S3 of a feasible path planning method based on instantaneous point source pollution gas diffusion in three-dimensional space provided by the present invention;

[0075] Figure 6 A feasible path of the A-star path planning algorithm based on real road network information based on a feasible path planning method for instantaneous point source pollution gas diffusion in three-dimensional space provided by the present invention

[0076] Figure 7 A specific flow chart of step S4 of a feasible path planning method based on instantaneous point source pollution gas diffusion in three-dimensional space provided by the present invention;

[0077] Figure 8 A schematic diagram of the composition of a feasible path planning system based on the diffusion of instantaneous point source polluted gas in three-dimensional space provided by the present invention.

[0078] [Description of Reference Numerals]

[0079] 100: Feasible path planning system;

[0080] 110: information acquisition module;

[0081] 120: 2D region building module;

[0082] 130: Three-dimensional region construction module;

[0083] 140: Path planning module. DETAILED DESCRIPTION

[0084] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0085] like Figure 1 As shown, an embodiment of the present invention proposes a feasible path planning method based on the diffusion of instantaneous point source polluted gas in three-dimensional space, comprising: first, when a leak occurs, the surrounding environment information is obtained by means of sensing devices arranged within a preset range of each leakage source, and meteorological information, geographic information and real road network information are obtained from a public information platform; secondly, based on the instantaneous point source gas pollution diffusion model, a two-dimensional polluted gas diffusion area is obtained according to the surrounding environment information and the meteorological information; then, based on the two-dimensional polluted gas diffusion area, a three-dimensional polluted gas diffusion area is obtained according to the obtained leakage gas lifting height, the leakage source height and the geographic information; finally, a feasible path is planned according to the two-dimensional polluted gas diffusion area and the real road network information.

[0086] This method combines the instantaneous point source pollution gas diffusion model based on three-dimensional space with the smoke lift height, making the diffusion display three-dimensional and improving the accuracy and practicality of the model. At the same time, it combines time domain information and meteorological information to realize the real-time change of the diffusion model with the change of time and meteorological parameters, improving the performance indicators of the model. In addition, the diffusion area is graded to improve the versatility of the model. Finally, based on the real road network data, the path planning algorithm is combined to realize the real-time planning of safe escape routes, provide decision makers with reference information for command and dispatch in a timely manner, and improve the reliability of emergency escape routes.

[0087] In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0088] Specifically, the present invention provides a feasible path planning method based on the diffusion of instantaneous point source polluted gas in three-dimensional space, and the process includes:

[0089] S1. Obtain surrounding environment information through sensing devices deployed within the preset range of each leakage source, and obtain meteorological information, geographic information and real road network information from the public information platform. The surrounding environment information includes: leakage source height, internal pressure of the leakage source, leakage time, leakage temperature, leakage substance concentration and leakage gas type.

[0090] S2. Based on the instantaneous point source gas pollution diffusion model, a two-dimensional polluted gas diffusion area is obtained according to the surrounding environment information and the meteorological information.

[0091] like Figure 2 As shown, step S2 includes:

[0092] S21. Obtaining the atmospheric stability of the leakage area according to the meteorological data, the concentration of the leaked substance, the height of the leakage source, and the internal pressure of the leakage source.

[0093] Common atmospheric stability classifications include the Pasquill method and the method recommended by the IAEA. The present invention uses the Pasquill method to classify the atmosphere into six levels: strong instability, instability, weak instability, neutrality, relative stability, and stability, which are represented by A, B, C, D, E, and F, respectively. The ground wind speed refers to the average wind speed at a height of 10 meters above the ground for 10 minutes. Please refer to the following table for details:

[0094]

[0095] S22. Determine the diffusion coefficient according to the atmospheric stability in the leakage area.

[0096] Furthermore, σ is determined by using the atmospheric stability parameter table. x ,σ y ,σ z Diffusion coefficient, and according to the warning concentration, dangerous concentration and lethal concentration of the leaked gas as the division standard, the warning concentration is automatically divided into three levels through concentration segmentation. The three levels of segmentation are 25%, 50% and 75% of the warning concentration respectively. Similarly, the dangerous concentration and lethal concentration are further subdivided, and combined with the GIS map, the concentration value and the boundary are displayed together.

[0097] S23. Based on the instantaneous point source gas pollution diffusion model, the longest distance of the diffusion area and the lateral distance of the leakage source are calculated to obtain a two-dimensional polluted gas diffusion area.

[0098] The instantaneous point source gas pollution diffusion model is:

[0099]

[0100] Where C is the mass concentration of pollutants at (x, y, z), mg / m 3 ; x is the downwind distance from the calculation point to the leakage source, m; y is the lateral distance from the calculation point to the leakage source, m; z is the height from the calculation point to the ground, m; Q is the source strength of the leakage source, mg / s; H is the height of the leaking gas, m; u is the average wind speed, m / s; t is the leakage time, s; σ x ,σ y are the horizontal diffusion coefficients, σ z is the diffusion coefficient in the vertical direction.

[0101] like Figure 3 As shown, step S23 includes:

[0102] S231, along the downwind distance x direction of the leakage source, until the preset warning concentration boundary x1, the longest distance of the diffusion area is obtained to be (x1-x);

[0103] S232. According to the longest distance of the diffusion area, the step length is obtained as: x j =x1+n * (x1-x) / 30, n is a positive integer and x j <(x1-x);

[0104] S233, bringing the step length into the instantaneous point source gas pollution diffusion model, and performing the following calculation to obtain the lateral distance of the leakage source:

[0105]

[0106] S3, based on the two-dimensional polluted gas diffusion area, according to the obtained leakage gas lifting height, leakage source height and combined with the geographic information, obtain Figure 4 The three-dimensional polluted gas diffusion area is shown.

[0107] like Figure 5 As shown, step S3 includes:

[0108] S31. Determine the current gas field conditions based on the acquired meteorological data, leakage time, leakage temperature and leakage gas type.

[0109] S32, obtaining the leakage gas lifting height under different gas field conditions.

[0110] Calculation of the leakage gas lift height under different gas field conditions includes:

[0111] S32A, when the average wind speed is greater than 0.5m / s, the atmospheric stability level is B / C / D, and the heat release rate of the leaked gas is greater than 2100KJ / S, and the temperature difference between the leaked gas and the outside is 35K, the leaked gas lift height is:

[0112]

[0113] Q h =3.5P a Q v ΔT / T s

[0114] ΔT=T s -T a

[0115] Where n0 is the condition coefficient of the leaked gas and the ground surface; n1 is the delayed heat release index; n2 is the leaked gas height index; Q h is the heat release rate of the leaked gas, KJ / S; P a is the atmospheric pressure at the leaking gas outlet, Kpa; Q v is the emission efficiency of effective point source, m 3 / s;T s Actual temperature of the leak, K; T a Ambient temperature, K.

[0116] S32B, when the heat release rate of the leaked gas is greater than 1700KJ / S and less than 2100KJ / S, and the temperature difference between the leaked gas and the outside is 35K, the following leaked gas lifting height is obtained:

[0117] ΔH=ΔH1+(M-ΔH1)(Q h -1700) / 400

[0118]

[0119]

[0120] Where V s is the leakage gas emission rate, m / s; D is the geometric diameter of the leakage port, m; n0 is the condition coefficient of the leakage gas and the surface; n1 is the delayed heat release index; n2 is the leakage gas height index; u is the average wind speed, Q h is the heat release rate of the leaking gas; P a is the atmospheric pressure at the leaking gas outlet; Q v is the emission efficiency of effective point sources; T s The actual temperature of the leak; T a Ambient temperature;

[0121] S32C, when the heat release rate of the leaked gas is less than 2100KJ / S and the temperature difference between the leaked gas and the outside is less than 35K, the following leaked gas lifting height is obtained:

[0122]

[0123] S32D, when the average wind speed is greater than 0.5m / s and the diffuse gas field is at atmospheric stability level A, the following leakage gas lift height is obtained:

[0124]

[0125] In the formula, is the atmospheric temperature gradient above the geometric height of the leak source, k / m.

[0126] S33, obtaining diffusion data of the leaked gas in the vertical direction according to the leakage gas lifting height combined with the leakage source height.

[0127] S34. Based on the two-dimensional polluted gas diffusion area, according to the diffusion data of the leaked gas in the vertical direction and in combination with geographic information, a three-dimensional polluted gas diffusion area is obtained, and the diffusion area in the three-dimensional space is displayed in combination with a GIS map.

[0128] S4. Planning a feasible path based on the two-dimensional polluted gas diffusion area and the real road network information.

[0129] like Figure 6 As shown in the figure, based on the real road network data, the A-star path planning algorithm is used to plan the escape avoidance route in combination with the simulated polluted gas diffusion area. The polluted area is regarded as a length of (x1-x) and a width of y. maxBased on the real road network data, the road information in the prohibited entry area is obtained, and the path planning is performed by constraining the feasible roads. The park is used as the path planning area, and the diffusion area is described as a rectangular area, which is regarded as a prohibited entry area. The road network dataset of the current area is used to obtain the road information covered by the polluted gas diffusion area, and the road constraint rules for path planning are formed.

[0130] The main steps of the A-star algorithm based on real road network data are:

[0131] like Figure 7 As shown, step S4 includes:

[0132] S41. According to the three-dimensional polluted gas diffusion area and the real road network information, the area to be planned is obtained, and the starting point A and the safe arrival point B are determined.

[0133] S42: quantize the path area to be planned into a group of nodes, and store the starting point A as the current node in an open list.

[0134] S43. Taking the starting point A as the center, based on the real road network data, matching the passable roads on the principle of skipping the roads corresponding to the polluted gas diffusion area, and adding the nodes corresponding to the polluted gas diffusion area to the open list.

[0135] S44, traverse the open list, set the path with the smallest F value as the current path, and switch the path with the smallest F value to the closed list.

[0136] S45, using the current path to find the next path, and making the following judgment on each node of the next path:

[0137] S46A. If the node is not in the open list, add the node, select the node with the smallest F value, and add it to the closed list.

[0138] S46B, if the node is already in the open list, take the node as the parent node, recalculate the G value of the node, compare it with the previous G value, and select the node with the smallest G value as the G value of the current node.

[0139] S47. Repeat steps S44-S46B multiple times until a safe arrival point B is found. Starting from the safe point B, move along the parent node of each path until returning to the evacuation point A.

[0140] The F value is obtained through the following cost function: F = G + H, G is the cost of selecting a road in the surrounding area, H is the Euclidean distance of a road in the surrounding area from the safe point B, and the road with the minimum F value is selected from the surrounding feasible roads. In addition to the Euclidean distance, other distance description methods can also be used to describe the path cost function H, such as Manhattan distance and Chebyshev distance.

[0141] like Figure 8 As shown, the present invention provides a feasible path planning system 100 based on the diffusion of instantaneous point source polluted gas in three-dimensional space, comprising:

[0142] The information acquisition module 110 is used to acquire surrounding environment information through sensing devices deployed within a preset range of each leakage source, and to acquire meteorological information, geographic information and real road network information from a public information platform;

[0143] A two-dimensional region construction module 120 is used to obtain a two-dimensional polluted gas diffusion region based on an instantaneous point source gas pollution diffusion model according to the surrounding environment information and the meteorological information;

[0144] A three-dimensional area construction module 130 is used to obtain a three-dimensional polluted gas diffusion area based on the two-dimensional polluted gas diffusion area, according to the obtained leakage gas lifting height, leakage source height and the geographic information;

[0145] The path planning module 140 is used to plan a feasible path according to the two-dimensional polluted gas diffusion area and the real road network information.

[0146] Since the system / device described in the above embodiments of the present invention is a system / device used to implement the method of the above embodiments of the present invention, a person skilled in the art can understand the specific structure and deformation of the system / device based on the method described in the above embodiments of the present invention, and thus will not be described in detail here. All systems / devices used in the method of the above embodiments of the present invention belong to the scope of protection of the present invention.

[0147] In addition, an embodiment of the present invention provides a feasible path planning device based on the diffusion of instantaneous point source polluted gases in three-dimensional space, comprising: at least one database; and a memory communicatively connected to the at least one database; wherein the memory stores instructions executable by the at least one database, and the instructions are executed by the at least one database so that the at least one database can execute the feasible path planning method based on the diffusion of instantaneous point source polluted gases in three-dimensional space as described above.

[0148] Furthermore, an embodiment of the present invention further provides a computer-readable medium having computer executable instructions stored thereon, and when the executable instructions are executed by a processor, the feasible path planning method for diffusion of instantaneous point source polluted gas in three-dimensional space as described above is implemented.

[0149] In summary, the present invention provides a feasible path planning method, system, device and medium based on the diffusion of instantaneous point source polluted gas in three-dimensional space, and its main process includes:

[0150] Step 1: Use various sensing devices deployed around the storage tanks in the park and directly obtain shared information from the information systems of relevant departments and units such as meteorology and hospitals, mainly including leakage source material information, meteorological information, park safety passage routes, leakage point surrounding environment information, videos and other information.

[0151] Step 2: Based on the instantaneous point source gas pollution diffusion model of Gauss's theorem, obtain the pollution gas diffusion area in the two-dimensional plane, and at the same time obtain the smoke lift height and the leakage source height combined with the GIS geographic information system to describe the pollution gas diffusion area in three-dimensional space.

[0152] Step 3: Use the A-star path planning algorithm to plan escape routes based on the real road network information and the polluted gas diffusion area obtained by simulation, and display them in a unified and real-time manner through GIS maps to provide decision makers with reference information for emergency decisions.

[0153] The present invention combines the instantaneous point source pollution gas diffusion model based on Gauss's theorem with the spatial smoke lift height, and combines it with the GIS geographic information system, so that the smoke diffusion space in three-dimensional space can be intuitively displayed on the map. At the same time, the model is combined with time domain information and wind direction information to achieve real-time adjustment of diffusion area information in the GIS map according to external changes. Based on real road network information, the diffusion area is used to form feasible road constraints, and at the same time, combined with the A-star path planning algorithm, the escape route is planned.

[0154] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0155] The present invention is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present invention. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions.

[0156] It should be noted that in the claims, any reference numerals placed between brackets shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention may be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In the claims enumerating several means, several of these means may be embodied by the same hardware. The use of the words first, second, third, etc., is for convenience of expression only and does not indicate any order. These words may be understood as part of the component name.

[0157] In addition, it should be noted that, in the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0158] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments after knowing the basic creative concept. Therefore, the claims should be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present invention.

[0159] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention should also include these modifications and variations.

Claims

1. A feasible path planning method based on the diffusion of instantaneous point source pollution gas in three-dimensional space, characterized in that: include: S1. Obtain surrounding environment information through sensing devices deployed within the preset range of each leakage source, and obtain meteorological information, geographic information and real road network information from the public information platform; S2. Based on the instantaneous point source gas pollution diffusion model, a two-dimensional polluted gas diffusion area is obtained according to the surrounding environment information and the meteorological information; S3, based on the two-dimensional polluted gas diffusion area, according to the obtained leakage gas lifting height, leakage source height and the geographic information, obtain a three-dimensional polluted gas diffusion area; S4. Planning a feasible path according to the two-dimensional polluted gas diffusion area and the real road network information; The surrounding environment information includes: height of the leakage source, internal pressure of the leakage source, leakage time, temperature of the leakage point, concentration of the leakage substance and type of the leakage gas; Step S2 includes: S21, obtaining the atmospheric stability of the leakage area according to the meteorological information, the concentration of the leaked substance, the height of the leakage source and the internal pressure of the leakage source; S22, determining the diffusion coefficient according to the atmospheric stability of the leakage area; S23, obtaining the longest distance of the diffusion area and the lateral distance of the leakage source based on the instantaneous point source gas pollution diffusion model to obtain a two-dimensional polluted gas diffusion area; The instantaneous point source gas pollution diffusion model is: Where C is the mass concentration of pollutants at (x, y, z), x is the downwind distance from the calculation point to the leakage source, y is the lateral distance from the calculation point to the leakage source, z is the height from the calculation point to the ground, Q is the source strength of the leakage source, H is the height of the leaked gas, u is the average wind speed, t is the leakage time, and σ x ,σ y are the horizontal diffusion coefficients, σ z is the diffusion coefficient in the vertical direction; Step S23 includes: following the downwind direction of the leakage source from x to the preset warning concentration boundary x1, the longest distance of the diffusion area is obtained to be (x1-x); according to the longest distance of the diffusion area, the step length is obtained to be: x j =x1+n * (x1-x) / 30, n is a positive integer and x j <(x1-x); bring the step length into the instantaneous point source gas pollution diffusion model, and perform the following calculation to obtain the lateral distance of the leakage source:

2. A feasible path planning method based on the diffusion of instantaneous point source pollution gas in three-dimensional space as claimed in claim 1, characterized in that: Step S3 includes: S31, judging the current gas field conditions based on the acquired meteorological data, leakage time, leakage temperature and leakage gas type; S32, obtaining the lifting height of the leaked gas under different gas field conditions; S33, obtaining diffusion data of the leaked gas in the vertical direction according to the lifting height of the leaked gas and the height of the leakage source; S34. Based on the two-dimensional polluted gas diffusion area, a three-dimensional polluted gas diffusion area is obtained according to the diffusion data of the leaked gas in the vertical direction and combined with geographic information.

3. A feasible path planning method based on the diffusion of instantaneous point source pollution gas in three-dimensional space as claimed in claim 2, characterized in that: Obtaining the leakage gas lifting height under different gas field conditions includes: S32A, when the average wind speed is greater than 0.5m / s, the atmospheric stability level is B / C / D, and the heat release rate of the leaked gas is greater than 2100KJ / S, and the temperature difference between the leaked gas and the outside is 35K, the leaked gas lift height is: Q h =3.5P a Q v ΔT / T s ΔT=T s -T a Where n0 is the condition coefficient of the leaked gas and the ground surface; n1 is the delayed heat release index; n2 is the leaked gas height index; Q h is the heat release rate of the leaked gas; P a is the atmospheric pressure at the leaking gas outlet; Q v is the emission efficiency of effective point sources; T s The actual temperature of the leak; T a Ambient temperature; S32B, when the heat release rate of the leaked gas is greater than 1700KJ / S and less than 2100KJ / S, and the temperature difference between the leaked gas and the outside is 35K, the following leaked gas lifting height is obtained: ΔH=ΔH1+(M-ΔH1)(Q h -1700) / 400 Where V s is the leakage gas emission rate, D is the geometric diameter of the leakage port; n0 is the condition coefficient of the leakage gas and the ground surface; n1 is the delayed heat release index; n2 is the leakage gas height index; u is the average wind speed, Q h is the heat release rate of the leaked gas; P a is the atmospheric pressure at the leaking gas outlet; Q v is the emission efficiency of effective point sources; T s The actual temperature of the leak; T a Ambient temperature; S32C, when the heat release rate of the leaked gas is less than 2100KJ / S and the temperature difference between the leaked gas and the outside is less than 35K, the following leaked gas lifting height is obtained: S32D, when the average wind speed is greater than 0.5m / s and the diffuse gas field is at atmospheric stability level A, the following leakage gas lift height is obtained: In the formula, is the atmospheric temperature gradient above the geometric height of the leak source.

4. A feasible path planning method based on the diffusion of instantaneous point source pollution gas in three-dimensional space as claimed in claim 1, characterized in that: Step S4 includes: S41, obtaining the area to be planned according to the three-dimensional polluted gas diffusion area and the real road network information, and determining the starting point A and the safe arrival point B; S42, quantizing the path area to be planned into a group of nodes, and storing the starting point A as the current node in the open list; S43, taking the starting point A as the center, matching the drivable roads based on the real road network data and skipping the roads corresponding to the polluted gas diffusion area as a principle, and adding the nodes corresponding to the polluted gas diffusion area to the open list; S44, traverse the open list, set the path with the smallest F value as the current path, and switch the path with the smallest F value to the closed list; S45, using the current path to find the next path, and making the following judgment on each node of the next path: S46A, if the node is not in the open list, add the node, select the node with the smallest F value, and add it to the closed list; S46B, if the node is already in the open list, take the node as the parent node, recalculate the G value of the node, compare it with the previous G value, and select the node with the smallest G value as the G value of the current node; S47, repeat steps S44-S46B multiple times until a safe arrival point B is found, and start from the safe point B and move along the parent node of each path until returning to the evacuation point A; Among them, the F value is obtained through the following cost function: F=G+H, G is the cost consumption of selecting a surrounding road, H is the Euclidean distance from a certain section of the surrounding road to the safe point B, and the road with the minimum F value is selected among the surrounding feasible roads.

5. A feasible path planning system based on the diffusion of instantaneous point source pollution gas in three-dimensional space, characterized in that: include: An information acquisition module is used to obtain surrounding environment information through sensing devices deployed within the preset range of each leakage source, and obtain meteorological information, geographic information and real road network information from the public information platform; A two-dimensional area construction module, used to obtain a two-dimensional polluted gas diffusion area based on an instantaneous point source gas pollution diffusion model according to the surrounding environment information and the meteorological information; A three-dimensional area construction module is used to obtain a three-dimensional polluted gas diffusion area based on the two-dimensional polluted gas diffusion area, according to the obtained leakage gas lifting height, leakage source height and the geographic information; A path planning module, used for planning a feasible path according to the two-dimensional polluted gas diffusion area and the real road network information; The surrounding environment information includes: height of the leakage source, internal pressure of the leakage source, leakage time, temperature of the leakage point, concentration of the leakage substance and type of the leakage gas; Based on the instantaneous point source gas pollution diffusion model, the two-dimensional polluted gas diffusion area is obtained according to the surrounding environment information and the meteorological information, including: S21, according to the meteorological information, the concentration of the leaked substance, the height of the leaked source and the internal pressure of the leaked source, the atmospheric stability of the leaked area is obtained; S22, the diffusion coefficient is determined by the atmospheric stability of the leaked area; S23, based on the instantaneous point source gas pollution diffusion model, the longest distance of the diffusion area and the lateral distance of the leaked source are obtained to obtain the two-dimensional polluted gas diffusion area; The instantaneous point source gas pollution diffusion model is: Where C is the mass concentration of pollutants at (x, y, z), x is the downwind distance from the calculation point to the leakage source, y is the lateral distance from the calculation point to the leakage source, z is the height from the calculation point to the ground, Q is the source strength of the leakage source, H is the height of the leaked gas, u is the average wind speed, t is the leakage time, and σ x ,σ y are the horizontal diffusion coefficients, σ z is the diffusion coefficient in the vertical direction; Step S23 includes: following the downwind direction of the leakage source from x to the preset warning concentration boundary x1, the longest distance of the diffusion area is obtained to be (x1-x); according to the longest distance of the diffusion area, the step length is obtained to be: x j =x1+n * (x1-x) / 30, n is a positive integer and x j <(x1-x); bring the step length into the instantaneous point source gas pollution diffusion model, and perform the following calculation to obtain the lateral distance of the leakage source:

6. A feasible path planning device based on the diffusion of instantaneous point source pollution gas in three-dimensional space, characterized in that: include: at least one database; and a memory in communication with the at least one database; In which, the memory stores instructions that can be executed by the at least one database, and the instructions are executed by the at least one database so that the at least one database can execute a feasible path planning method based on the diffusion of instantaneous point source polluted gas in three-dimensional space as described in any one of claims 1-4.

7. A computer-readable medium having computer-executable instructions stored thereon, characterized in that: When the executable instructions are executed by the processor, a feasible path planning method based on the diffusion of instantaneous point source polluted gas in three-dimensional space as described in any one of claims 1 to 4 is implemented.

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